1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2013 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 // mierle (at) gmail.com (Keir Mierle) 31 32 #ifndef CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_ 33 #define CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_ 34 35 #include <stddef.h> 36 37 #include "ceres/jet.h" 38 #include "ceres/internal/eigen.h" 39 #include "ceres/internal/fixed_array.h" 40 #include "glog/logging.h" 41 42 namespace ceres { 43 namespace internal { 44 45 // This block of quasi-repeated code calls the user-supplied functor, which may 46 // take a variable number of arguments. This is accomplished by specializing the 47 // struct based on the size of the trailing parameters; parameters with 0 size 48 // are assumed missing. 49 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4, 50 int N5, int N6, int N7, int N8, int N9> 51 struct VariadicEvaluate { 52 static bool Call(const Functor& functor, T const *const *input, T* output) { 53 return functor(input[0], 54 input[1], 55 input[2], 56 input[3], 57 input[4], 58 input[5], 59 input[6], 60 input[7], 61 input[8], 62 input[9], 63 output); 64 } 65 }; 66 67 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4, 68 int N5, int N6, int N7, int N8> 69 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, 0> { 70 static bool Call(const Functor& functor, T const *const *input, T* output) { 71 return functor(input[0], 72 input[1], 73 input[2], 74 input[3], 75 input[4], 76 input[5], 77 input[6], 78 input[7], 79 input[8], 80 output); 81 } 82 }; 83 84 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4, 85 int N5, int N6, int N7> 86 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, 0, 0> { 87 static bool Call(const Functor& functor, T const *const *input, T* output) { 88 return functor(input[0], 89 input[1], 90 input[2], 91 input[3], 92 input[4], 93 input[5], 94 input[6], 95 input[7], 96 output); 97 } 98 }; 99 100 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4, 101 int N5, int N6> 102 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, 0, 0, 0> { 103 static bool Call(const Functor& functor, T const *const *input, T* output) { 104 return functor(input[0], 105 input[1], 106 input[2], 107 input[3], 108 input[4], 109 input[5], 110 input[6], 111 output); 112 } 113 }; 114 115 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4, 116 int N5> 117 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, 0, 0, 0, 0> { 118 static bool Call(const Functor& functor, T const *const *input, T* output) { 119 return functor(input[0], 120 input[1], 121 input[2], 122 input[3], 123 input[4], 124 input[5], 125 output); 126 } 127 }; 128 129 template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4> 130 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0, 0, 0, 0, 0> { 131 static bool Call(const Functor& functor, T const *const *input, T* output) { 132 return functor(input[0], 133 input[1], 134 input[2], 135 input[3], 136 input[4], 137 output); 138 } 139 }; 140 141 template<typename Functor, typename T, int N0, int N1, int N2, int N3> 142 struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0, 0, 0, 0, 0> { 143 static bool Call(const Functor& functor, T const *const *input, T* output) { 144 return functor(input[0], 145 input[1], 146 input[2], 147 input[3], 148 output); 149 } 150 }; 151 152 template<typename Functor, typename T, int N0, int N1, int N2> 153 struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0> { 154 static bool Call(const Functor& functor, T const *const *input, T* output) { 155 return functor(input[0], 156 input[1], 157 input[2], 158 output); 159 } 160 }; 161 162 template<typename Functor, typename T, int N0, int N1> 163 struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0, 0, 0, 0, 0> { 164 static bool Call(const Functor& functor, T const *const *input, T* output) { 165 return functor(input[0], 166 input[1], 167 output); 168 } 169 }; 170 171 template<typename Functor, typename T, int N0> 172 struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0> { 173 static bool Call(const Functor& functor, T const *const *input, T* output) { 174 return functor(input[0], 175 output); 176 } 177 }; 178 179 } // namespace internal 180 } // namespace ceres 181 182 #endif // CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_ 183
